Re: rosbag rtabmap_ros

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/rosbag-rtabmap-ros-tp248p257.html

You can use TF (/odom -> /base_link) or subscribe to nav_msgs/Odometry and save the pose with the timestamp somewhere.

For information, you can see the odometry trajectory by doing this:

$ rostopic echo /rtabmap/odom/pose/pose
position: 
  x: -0.00229270756245
  y: -0.00902292318642
  z: -0.00674252817407
orientation: 
  x: 0.00132995096318
  y: -0.00228510321019
  z: 0.00288171810597
  w: 0.999992352588
---
position: 
  x: -0.00188632041682
  y: -0.0105277476832
  z: -0.00697915675119
orientation: 
  x: 0.000952038222566
  y: -0.00242582823873
  z: 0.00349794919707
  w: 0.999990486621
---
position: 
  x: -0.00185759039596
  y: -0.0107648214325
  z: -0.00687110237777
orientation: 
  x: 0.00111394572297
  y: -0.00236950602842
  z: 0.00358777470415
  w: 0.999990136171
---
position: 
  x: -0.00176498887595
  y: -0.00932307355106
  z: -0.00668607419357
orientation: 
  x: 0.00159518906434
  y: -0.00225667481474
  z: 0.00295281279954
  w: 0.99999182181
---
position: 
  x: -0.00210090610199
  y: -0.00998457055539
  z: -0.00718265213072
orientation: 
  x: 0.00129497500437
  y: -0.00251487016154
  z: 0.00324167754177
  w: 0.999990744954
---
[...]